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Check your owner's manual. It should list 2 conditions for your service interval, severe and normal. If you drive your car like an average joe, just follow the normal schedule interval. The manual will tell you what needs to be done.
And where you get it serviced does not really matter. As long as you can document what you have done to your car, and when, and what you did meets all manufacturer's spec, a car company or dealer really can't void your warranty. They might argue, they technically can't.
But for 40K miles, simple oil change, tire rotation, and visually checking fluid levels should be alright. You might want to check the brakes though...
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